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<div class="title">pcd_io.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_IO_PCD_IO_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_IO_PCD_IO_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/io/file_io.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_reader.html">   52</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_p_c_d_reader.html">PCDReader</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_file_reader.html">FileReader</a></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_reader.html#a30d526bb72cfb0e85d4bfd95e55ea950">   56</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_reader.html#a30d526bb72cfb0e85d4bfd95e55ea950">PCDReader</a> () : <a class="code" href="classpcl_1_1_file_reader.html">FileReader</a> () {}</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_reader.html#a9da986913408efb40faaf5867b7cacca">   58</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_reader.html#a9da986913408efb40faaf5867b7cacca">~PCDReader</a> () {}</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">enum</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        PCD_V6 = 0,</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        PCD_V7 = 1</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      };</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_reader.html#a28f335288e9e23826d241ea3053bf076">  115</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_reader.html#a28f335288e9e23826d241ea3053bf076">readHeader</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                  Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, <span class="keywordtype">int</span> &amp;pcd_version,</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                  <span class="keywordtype">int</span> &amp;data_type, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &amp;data_idx, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_reader.html#ad7f0e72226fcd3b75b98d064ab2c63e2">  143</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_reader.html#ad7f0e72226fcd3b75b98d064ab2c63e2">readHeader</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_reader.html#a21f154e8ce3f4d5e905ecaa395935c42">  163</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_reader.html#a21f154e8ce3f4d5e905ecaa395935c42">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;            Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, <span class="keywordtype">int</span> &amp;pcd_version, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_reader.html#a81f91dadebc44e618d3bea8178bc7698">  187</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_reader.html#a81f91dadebc44e618d3bea8178bc7698">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_reader.html#a977a238557b3e1d5c9380d30ecba779a">  204</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_reader.html#a977a238557b3e1d5c9380d30ecba779a">read</a> (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keyword">const</span> <span class="keywordtype">int</span> offset = 0)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keywordtype">int</span> pcd_version;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keywordtype">int</span> res = read (file_name, blob, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a>, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a>, </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                        pcd_version, offset);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="comment">// If no error, convert the data</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordflow">if</span> (res == 0)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          pcl::fromPCLPointCloud2 (blob, cloud);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordflow">return</span> (res);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  };</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html">  224</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_p_c_d_writer.html">PCDWriter</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_file_writer.html">FileWriter</a></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html">PCDWriter</a>() : <a class="code" href="classpcl_1_1_file_writer.html">FileWriter</a>(), map_synchronization_(<span class="keyword">false</span>) {}</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      ~<a class="code" href="classpcl_1_1_p_c_d_writer.html">PCDWriter</a>() {}</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#ab1d5c98b44991db01fd62e454c0ebb42">  239</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#ab1d5c98b44991db01fd62e454c0ebb42">setMapSynchronization</a> (<span class="keywordtype">bool</span> sync)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      {</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        map_synchronization_ = sync;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      }</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      std::string</div>
<div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#a79c96ec8c6d201fc54cd8ba13b57e3f2">  250</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#a79c96ec8c6d201fc54cd8ba13b57e3f2">generateHeaderBinary</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                            <span class="keyword">const</span> Eigen::Vector4f &amp;origin, </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                            <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      std::string</div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#a919cad78f64b18e31a94f349d7852bca">  260</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#a919cad78f64b18e31a94f349d7852bca">generateHeaderBinaryCompressed</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                                      <span class="keyword">const</span> Eigen::Vector4f &amp;origin, </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                                      <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      std::string</div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#a01a3ae94c4ef70097c07af1cc48e7ab9">  270</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#a01a3ae94c4ef70097c07af1cc48e7ab9">generateHeaderASCII</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4f &amp;origin, </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                           <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">static</span> std::string</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      generateHeader (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                      <span class="keyword">const</span> <span class="keywordtype">int</span> nr_points = std::numeric_limits&lt;int&gt;::max ());</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#ac4fe2c5fcc78462fec9dfdb72c8445cb">  300</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#ac4fe2c5fcc78462fec9dfdb72c8445cb">writeASCII</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                  <span class="keyword">const</span> Eigen::Vector4f &amp;origin = Eigen::Vector4f::Zero (), </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                  <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation = Eigen::Quaternionf::Identity (),</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">int</span> precision = 8);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00312"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#a94b4790854b2adf1f91adb37aa7c3ef2">  312</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#a94b4790854b2adf1f91adb37aa7c3ef2">writeBinary</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;                   <span class="keyword">const</span> Eigen::Vector4f &amp;origin = Eigen::Vector4f::Zero (), </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;                   <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation = Eigen::Quaternionf::Identity ());</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#ad15340f1c78381cc2a48ad1c50661250">  323</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#ad15340f1c78381cc2a48ad1c50661250">writeBinaryCompressed</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;                             <span class="keyword">const</span> Eigen::Vector4f &amp;origin = Eigen::Vector4f::Zero (), </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;                             <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation = Eigen::Quaternionf::Identity ());</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00345"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#a1c1b02f51824b915fda538d520f69cc1">  345</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#a1c1b02f51824b915fda538d520f69cc1">write</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;             <span class="keyword">const</span> Eigen::Vector4f &amp;origin = Eigen::Vector4f::Zero (), </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;             <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation = Eigen::Quaternionf::Identity (),</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;             <span class="keyword">const</span> <span class="keywordtype">bool</span> binary = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      {</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordflow">if</span> (binary)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;          <span class="keywordflow">return</span> (writeBinary (file_name, cloud, origin, orientation));</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;          <span class="keywordflow">return</span> (writeASCII (file_name, cloud, origin, orientation, 8));</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      }</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00372"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#a9e0d292e699e32ca4a4fb4815aee6083">  372</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#a9e0d292e699e32ca4a4fb4815aee6083">write</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> pcl::PCLPointCloud2::ConstPtr &amp;cloud,</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;             <span class="keyword">const</span> Eigen::Vector4f &amp;origin = Eigen::Vector4f::Zero (), </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;             <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation = Eigen::Quaternionf::Identity (),</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;             <span class="keyword">const</span> <span class="keywordtype">bool</span> binary = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        <span class="keywordflow">return</span> (write (file_name, *cloud, origin, orientation, binary));</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      }</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      writeBinary (<span class="keyword">const</span> std::string &amp;file_name, </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;                   <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      writeBinaryCompressed (<span class="keyword">const</span> std::string &amp;file_name, </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;                             <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud);</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      writeBinary (<span class="keyword">const</span> std::string &amp;file_name, </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;                   <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;                   <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      writeASCII (<span class="keyword">const</span> std::string &amp;file_name, </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;                  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">int</span> precision = 8);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      writeASCII (<span class="keyword">const</span> std::string &amp;file_name, </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;                  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">int</span> precision = 8);</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00442"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#a2967d32139bf20080ba18376aa4a14a6">  442</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#a2967d32139bf20080ba18376aa4a14a6">write</a> (<span class="keyword">const</span> std::string &amp;file_name, </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;             <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;             <span class="keyword">const</span> <span class="keywordtype">bool</span> binary = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      {</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        <span class="keywordflow">if</span> (binary)</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;          <span class="keywordflow">return</span> (writeBinary&lt;PointT&gt; (file_name, cloud));</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;          <span class="keywordflow">return</span> (writeASCII&lt;PointT&gt; (file_name, cloud));</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      }</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00467"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#ac6a6da282c6783e8dad3986ca29613b4">  467</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#ac6a6da282c6783e8dad3986ca29613b4">write</a> (<span class="keyword">const</span> std::string &amp;file_name, </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;             <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;             <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;             <span class="keywordtype">bool</span> binary = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      {</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;        <span class="keywordflow">if</span> (binary)</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;          <span class="keywordflow">return</span> (writeBinary&lt;PointT&gt; (file_name, cloud, indices));</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;          <span class="keywordflow">return</span> (writeASCII&lt;PointT&gt; (file_name, cloud, indices));</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;      }</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00484"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#a138ee50ed57e723231e00b748e2d4e03">  484</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#a138ee50ed57e723231e00b748e2d4e03">setLockingPermissions</a> (<span class="keyword">const</span> std::string &amp;file_name,</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;                             boost::interprocess::file_lock &amp;lock);</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00492"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#a06e58f093f15cda93a80912e1fbb7be7">  492</a></span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_writer.html#a06e58f093f15cda93a80912e1fbb7be7">resetLockingPermissions</a> (<span class="keyword">const</span> std::string &amp;file_name,</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;                               boost::interprocess::file_lock &amp;lock);</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00497"></a><span class="lineno"><a class="line" href="classpcl_1_1_p_c_d_writer.html#a75327aef715cb623cb7ab13816d7067d">  497</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_p_c_d_writer.html#a75327aef715cb623cb7ab13816d7067d">map_synchronization_</a>;</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  };</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  {</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;    loadPCDFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud)</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;    {</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_reader.html">pcl::PCDReader</a> p;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="keywordflow">return</span> (p.read (file_name, cloud));</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    }</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    loadPCDFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;                 Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation)</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    {</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_reader.html">pcl::PCDReader</a> p;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;      <span class="keywordtype">int</span> pcd_version;</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;      <span class="keywordflow">return</span> (p.read (file_name, cloud, origin, orientation, pcd_version));</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    }</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;    loadPCDFile (<span class="keyword">const</span> std::string &amp;file_name, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    {</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      <a class="code" href="classpcl_1_1_p_c_d_reader.html">pcl::PCDReader</a> p;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      <span class="keywordflow">return</span> (p.read (file_name, cloud));</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;    }</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;    savePCDFile (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud,</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;                 <span class="keyword">const</span> Eigen::Vector4f &amp;origin = Eigen::Vector4f::Zero (), </div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;                 <span class="keyword">const</span> Eigen::Quaternionf &amp;orientation = Eigen::Quaternionf::Identity (),</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;                 <span class="keyword">const</span> <span class="keywordtype">bool</span> binary_mode = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    {</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      PCDWriter w;</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      <span class="keywordflow">return</span> (w.write (file_name, cloud, origin, orientation, binary_mode));</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;    }</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160; </div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;    savePCDFile (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, <span class="keywordtype">bool</span> binary_mode = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    {</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      PCDWriter w;</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      <span class="keywordflow">return</span> (w.write&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (file_name, cloud, binary_mode));</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    }</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    savePCDFileASCII (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;    {</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;      PCDWriter w;</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;      <span class="keywordflow">return</span> (w.write&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (file_name, cloud, <span class="keyword">false</span>));</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;    }</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160; </div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;    savePCDFileBinary (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;    {</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;      PCDWriter w;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;      <span class="keywordflow">return</span> (w.write&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (file_name, cloud, <span class="keyword">true</span>));</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;    }</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160; </div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    savePCDFile (<span class="keyword">const</span> std::string &amp;file_name, </div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;                 <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;                 <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;                 <span class="keyword">const</span> <span class="keywordtype">bool</span> binary_mode = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    {</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;      <span class="comment">// Save the data</span></div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;      PCDWriter w;</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;      <span class="keywordflow">return</span> (w.write&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (file_name, cloud, indices, binary_mode));</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    }</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160; </div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160; </div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;    savePCDFileBinaryCompressed (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud)</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;    {</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;      PCDWriter w;</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;      <span class="keywordflow">return</span> (w.writeBinaryCompressed&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (file_name, cloud));</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;    }</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160; </div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;  }</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;}</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160; </div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;<span class="preprocessor">#include &lt;pcl/io/impl/pcd_io.hpp&gt;</span></div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160; </div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_IO_PCD_IO_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_file_reader_html"><div class="ttname"><a href="classpcl_1_1_file_reader.html">pcl::FileReader</a></div><div class="ttdoc">Point Cloud Data (FILE) file format reader interface. Any (FILE) format file reader should implement ...</div><div class="ttdef"><b>Definition:</b> file_io.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_file_writer_html"><div class="ttname"><a href="classpcl_1_1_file_writer.html">pcl::FileWriter</a></div><div class="ttdoc">Point Cloud Data (FILE) file format writer. Any (FILE) format file reader should implement its virtua...</div><div class="ttdef"><b>Definition:</b> file_io.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html">pcl::PCDReader</a></div><div class="ttdoc">Point Cloud Data (PCD) file format reader.</div><div class="ttdef"><b>Definition:</b> pcd_io.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html_a21f154e8ce3f4d5e905ecaa395935c42"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html#a21f154e8ce3f4d5e905ecaa395935c42">pcl::PCDReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;pcd_version, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a PCD file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html_a28f335288e9e23826d241ea3053bf076"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html#a28f335288e9e23826d241ea3053bf076">pcl::PCDReader::readHeader</a></div><div class="ttdeci">int readHeader(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;pcd_version, int &amp;data_type, unsigned int &amp;data_idx, const int offset=0)</div><div class="ttdoc">Read a point cloud data header from a PCD file.</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html_a30d526bb72cfb0e85d4bfd95e55ea950"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html#a30d526bb72cfb0e85d4bfd95e55ea950">pcl::PCDReader::PCDReader</a></div><div class="ttdeci">PCDReader()</div><div class="ttdef"><b>Definition:</b> pcd_io.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html_a81f91dadebc44e618d3bea8178bc7698"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html#a81f91dadebc44e618d3bea8178bc7698">pcl::PCDReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a PCD (PCD_V6) and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html_a977a238557b3e1d5c9380d30ecba779a"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html#a977a238557b3e1d5c9380d30ecba779a">pcl::PCDReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PointCloud&lt; PointT &gt; &amp;cloud, const int offset=0)</div><div class="ttdoc">Read a point cloud data from any PCD file, and convert it to the given template format.</div><div class="ttdef"><b>Definition:</b> pcd_io.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html_a9da986913408efb40faaf5867b7cacca"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html#a9da986913408efb40faaf5867b7cacca">pcl::PCDReader::~PCDReader</a></div><div class="ttdeci">~PCDReader()</div><div class="ttdef"><b>Definition:</b> pcd_io.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html_ad7f0e72226fcd3b75b98d064ab2c63e2"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html#ad7f0e72226fcd3b75b98d064ab2c63e2">pcl::PCDReader::readHeader</a></div><div class="ttdeci">int readHeader(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, const int offset=0)</div><div class="ttdoc">Read a point cloud data header from a PCD file.</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html">pcl::PCDWriter</a></div><div class="ttdoc">Point Cloud Data (PCD) file format writer.</div><div class="ttdef"><b>Definition:</b> pcd_io.h:225</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_a01a3ae94c4ef70097c07af1cc48e7ab9"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#a01a3ae94c4ef70097c07af1cc48e7ab9">pcl::PCDWriter::generateHeaderASCII</a></div><div class="ttdeci">std::string generateHeaderASCII(const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin, const Eigen::Quaternionf &amp;orientation)</div><div class="ttdoc">Generate the header of a PCD file format</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_a06e58f093f15cda93a80912e1fbb7be7"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#a06e58f093f15cda93a80912e1fbb7be7">pcl::PCDWriter::resetLockingPermissions</a></div><div class="ttdeci">void resetLockingPermissions(const std::string &amp;file_name, boost::interprocess::file_lock &amp;lock)</div><div class="ttdoc">Reset permissions for file locking (Boost 1.49+).</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_a138ee50ed57e723231e00b748e2d4e03"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#a138ee50ed57e723231e00b748e2d4e03">pcl::PCDWriter::setLockingPermissions</a></div><div class="ttdeci">void setLockingPermissions(const std::string &amp;file_name, boost::interprocess::file_lock &amp;lock)</div><div class="ttdoc">Set permissions for file locking (Boost 1.49+).</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_a1c1b02f51824b915fda538d520f69cc1"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#a1c1b02f51824b915fda538d520f69cc1">pcl::PCDWriter::write</a></div><div class="ttdeci">int write(const std::string &amp;file_name, const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), const bool binary=false)</div><div class="ttdoc">Save point cloud data to a PCD file containing n-D points</div><div class="ttdef"><b>Definition:</b> pcd_io.h:345</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_a2967d32139bf20080ba18376aa4a14a6"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#a2967d32139bf20080ba18376aa4a14a6">pcl::PCDWriter::write</a></div><div class="ttdeci">int write(const std::string &amp;file_name, const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const bool binary=false)</div><div class="ttdoc">Save point cloud data to a PCD file containing n-D points</div><div class="ttdef"><b>Definition:</b> pcd_io.h:442</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_a75327aef715cb623cb7ab13816d7067d"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#a75327aef715cb623cb7ab13816d7067d">pcl::PCDWriter::map_synchronization_</a></div><div class="ttdeci">bool map_synchronization_</div><div class="ttdoc">Set to true if msync() should be called before munmap(). Prevents data loss on NFS systems.</div><div class="ttdef"><b>Definition:</b> pcd_io.h:497</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_a79c96ec8c6d201fc54cd8ba13b57e3f2"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#a79c96ec8c6d201fc54cd8ba13b57e3f2">pcl::PCDWriter::generateHeaderBinary</a></div><div class="ttdeci">std::string generateHeaderBinary(const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin, const Eigen::Quaternionf &amp;orientation)</div><div class="ttdoc">Generate the header of a PCD file format</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_a919cad78f64b18e31a94f349d7852bca"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#a919cad78f64b18e31a94f349d7852bca">pcl::PCDWriter::generateHeaderBinaryCompressed</a></div><div class="ttdeci">std::string generateHeaderBinaryCompressed(const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin, const Eigen::Quaternionf &amp;orientation)</div><div class="ttdoc">Generate the header of a BINARY_COMPRESSED PCD file format</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_a94b4790854b2adf1f91adb37aa7c3ef2"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#a94b4790854b2adf1f91adb37aa7c3ef2">pcl::PCDWriter::writeBinary</a></div><div class="ttdeci">int writeBinary(const std::string &amp;file_name, const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity())</div><div class="ttdoc">Save point cloud data to a PCD file containing n-D points, in BINARY format</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_a9e0d292e699e32ca4a4fb4815aee6083"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#a9e0d292e699e32ca4a4fb4815aee6083">pcl::PCDWriter::write</a></div><div class="ttdeci">int write(const std::string &amp;file_name, const pcl::PCLPointCloud2::ConstPtr &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), const bool binary=false)</div><div class="ttdoc">Save point cloud data to a PCD file containing n-D points</div><div class="ttdef"><b>Definition:</b> pcd_io.h:372</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_ab1d5c98b44991db01fd62e454c0ebb42"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#ab1d5c98b44991db01fd62e454c0ebb42">pcl::PCDWriter::setMapSynchronization</a></div><div class="ttdeci">void setMapSynchronization(bool sync)</div><div class="ttdoc">Set whether mmap() synchornization via msync() is desired before munmap() calls. Setting this to true...</div><div class="ttdef"><b>Definition:</b> pcd_io.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_ac4fe2c5fcc78462fec9dfdb72c8445cb"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#ac4fe2c5fcc78462fec9dfdb72c8445cb">pcl::PCDWriter::writeASCII</a></div><div class="ttdeci">int writeASCII(const std::string &amp;file_name, const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity(), const int precision=8)</div><div class="ttdoc">Save point cloud data to a PCD file containing n-D points, in ASCII format</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_ac6a6da282c6783e8dad3986ca29613b4"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#ac6a6da282c6783e8dad3986ca29613b4">pcl::PCDWriter::write</a></div><div class="ttdeci">int write(const std::string &amp;file_name, const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;indices, bool binary=false)</div><div class="ttdoc">Save point cloud data to a PCD file containing n-D points</div><div class="ttdef"><b>Definition:</b> pcd_io.h:467</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_writer_html_ad15340f1c78381cc2a48ad1c50661250"><div class="ttname"><a href="classpcl_1_1_p_c_d_writer.html#ad15340f1c78381cc2a48ad1c50661250">pcl::PCDWriter::writeBinaryCompressed</a></div><div class="ttdeci">int writeBinaryCompressed(const std::string &amp;file_name, const pcl::PCLPointCloud2 &amp;cloud, const Eigen::Vector4f &amp;origin=Eigen::Vector4f::Zero(), const Eigen::Quaternionf &amp;orientation=Eigen::Quaternionf::Identity())</div><div class="ttdoc">Save point cloud data to a PCD file containing n-D points, in BINARY_COMPRESSED format</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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